/usr/include/fcl/traversal/traversal_node_shapes.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_TRAVERSAL_NODE_SHAPES_H
#define FCL_TRAVERSAL_NODE_SHAPES_H
#include <algorithm>
#include "fcl/collision_data.h"
#include "fcl/traversal/traversal_node_base.h"
#include "fcl/narrowphase/narrowphase.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include "fcl/BV/BV.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include "fcl/ccd/motion.h"
namespace fcl
{
/// @brief Traversal node for collision between two shapes
template<typename S1, typename S2, typename NarrowPhaseSolver>
class ShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
ShapeCollisionTraversalNode() : CollisionTraversalNodeBase()
{
model1 = NULL;
model2 = NULL;
nsolver = NULL;
}
/// @brief BV culling test in one BVTT node
bool BVTesting(int, int) const
{
return false;
}
/// @brief Intersection testing between leaves (two shapes)
void leafTesting(int, int) const
{
if(model1->isOccupied() && model2->isOccupied())
{
bool is_collision = false;
if(request.enable_contact)
{
std::vector<ContactPoint> contacts;
if(nsolver->shapeIntersect(*model1, tf1, *model2, tf2, &contacts))
{
is_collision = true;
if(request.num_max_contacts > result->numContacts())
{
const size_t free_space = request.num_max_contacts - result->numContacts();
size_t num_adding_contacts;
// If the free space is not enough to add all the new contacts, we add contacts in descent order of penetration depth.
if (free_space < contacts.size())
{
std::partial_sort(contacts.begin(), contacts.begin() + free_space, contacts.end(), std::bind(comparePenDepth, std::placeholders::_2, std::placeholders::_1));
num_adding_contacts = free_space;
}
else
{
num_adding_contacts = contacts.size();
}
for(size_t i = 0; i < num_adding_contacts; ++i)
result->addContact(Contact(model1, model2, Contact::NONE, Contact::NONE, contacts[i].pos, contacts[i].normal, contacts[i].penetration_depth));
}
}
}
else
{
if(nsolver->shapeIntersect(*model1, tf1, *model2, tf2, NULL))
{
is_collision = true;
if(request.num_max_contacts > result->numContacts())
result->addContact(Contact(model1, model2, Contact::NONE, Contact::NONE));
}
}
if(is_collision && request.enable_cost)
{
AABB aabb1, aabb2;
computeBV<AABB, S1>(*model1, tf1, aabb1);
computeBV<AABB, S2>(*model2, tf2, aabb2);
AABB overlap_part;
aabb1.overlap(aabb2, overlap_part);
result->addCostSource(CostSource(overlap_part, cost_density), request.num_max_cost_sources);
}
}
else if((!model1->isFree() && !model2->isFree()) && request.enable_cost)
{
if(nsolver->shapeIntersect(*model1, tf1, *model2, tf2, NULL))
{
AABB aabb1, aabb2;
computeBV<AABB, S1>(*model1, tf1, aabb1);
computeBV<AABB, S2>(*model2, tf2, aabb2);
AABB overlap_part;
aabb1.overlap(aabb2, overlap_part);
result->addCostSource(CostSource(overlap_part, cost_density), request.num_max_cost_sources);
}
}
}
const S1* model1;
const S2* model2;
FCL_REAL cost_density;
const NarrowPhaseSolver* nsolver;
};
/// @brief Traversal node for distance between two shapes
template<typename S1, typename S2, typename NarrowPhaseSolver>
class ShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
ShapeDistanceTraversalNode() : DistanceTraversalNodeBase()
{
model1 = NULL;
model2 = NULL;
nsolver = NULL;
}
/// @brief BV culling test in one BVTT node
FCL_REAL BVTesting(int, int) const
{
return -1; // should not be used
}
/// @brief Distance testing between leaves (two shapes)
void leafTesting(int, int) const
{
FCL_REAL distance;
Vec3f closest_p1, closest_p2;
nsolver->shapeDistance(*model1, tf1, *model2, tf2, &distance, &closest_p1, &closest_p2);
result->update(distance, model1, model2, DistanceResult::NONE, DistanceResult::NONE, closest_p1, closest_p2);
}
const S1* model1;
const S2* model2;
const NarrowPhaseSolver* nsolver;
};
template<typename S1, typename S2, typename NarrowPhaseSolver>
class ShapeConservativeAdvancementTraversalNode : public ShapeDistanceTraversalNode<S1, S2, NarrowPhaseSolver>
{
public:
ShapeConservativeAdvancementTraversalNode() : ShapeDistanceTraversalNode<S1, S2, NarrowPhaseSolver>()
{
delta_t = 1;
toc = 0;
t_err = (FCL_REAL)0.0001;
motion1 = NULL;
motion2 = NULL;
}
void leafTesting(int, int) const
{
FCL_REAL distance;
Vec3f closest_p1, closest_p2;
this->nsolver->shapeDistance(*(this->model1), this->tf1, *(this->model2), this->tf2, &distance, &closest_p1, &closest_p2);
Vec3f n = this->tf2.transform(closest_p2) - this->tf1.transform(closest_p1); n.normalize();
TBVMotionBoundVisitor<RSS> mb_visitor1(model1_bv, n);
TBVMotionBoundVisitor<RSS> mb_visitor2(model2_bv, -n);
FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);
FCL_REAL bound = bound1 + bound2;
FCL_REAL cur_delta_t;
if(bound <= distance) cur_delta_t = 1;
else cur_delta_t = distance / bound;
if(cur_delta_t < delta_t)
delta_t = cur_delta_t;
}
mutable FCL_REAL min_distance;
/// @brief The time from beginning point
FCL_REAL toc;
FCL_REAL t_err;
/// @brief The delta_t each step
mutable FCL_REAL delta_t;
/// @brief Motions for the two objects in query
const MotionBase* motion1;
const MotionBase* motion2;
RSS model1_bv, model2_bv; // local bv for the two shapes
};
}
#endif
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